A Study on Advanced Network System of Ubiquitous Small-scale Aerial and Ground Robots for High Performance Prevention of Disaster

近年来，多旋翼直升机式自主无人机被用于航空摄影和航空测量.此外，预计多旋翼直升机还可用于建筑物维护、安全和救援等各种应用。在不久的将来，这些技术将渗透到我们的生活中。然而，如果没有安全的指导和保证，如果广泛传播，可能会发生严重的事故。因此，制造商需要能够向用户展示适用的应用区域和故障模式的行为。为了说明这一点，需要一个能够分析行为模型参数变化和硬件故障的分析模型。我们的研究小组从2007年开始研究多旋翼直升机。2010年，我们开始开发自己设计的实用多旋翼。本计画的研究目标为达成先进的泛在小型航空器与无人机器人的网路系统，以达到高效能防灾的目的。2011年，我们 ...更多信息 我们放弃了传统控制，并在2012年推出了多旋翼联盟。如上所述，为了实现安全的多旋翼，需要分析模型。本研究建立了一个适用于一般多旋翼的解析模型。通过搭建控制系统对模型进行了实验验证。我们建立了一个仿真系统，可用于操作员培训和控制系统验证。此外，该模拟器还可以模拟转子故障和传感器故障.实际应用表明，该模拟器对转子故障行为的分析是有效的，对培训操作人员也是有用的。虽然多旋翼直升机主要用于户外，但也有望用于室内的信息收集。飞行机器人在室内等GPS拒绝环境中的自主导航要求飞行机器人能够使用外部传感器估计位置。虽然激光扫描仪主要用于室内飞行的研究，但由于传感器的质量较大，小型机器人的开发受到阻碍。因此，在这项研究中，我们开发了一个轻量级的飞行机器人实现室内自主飞行使用四个红外（IR）传感器。然而，在基于IR传感器的定位中存在以下问题。首先，很难在靠近墙壁的地方使用IR传感器，因为这样做会在使用传感器输出电压计算距离时产生错误的结果。第二个问题是，空间分辨率低，因为只有四个红外传感器使用。对于第一个问题，我们建立了一个概率模型的红外传感器，可以估计位置从电压信息，而不使用计算的距离。第二个问题，通过始终水平旋转机器人来获取来自各个方向的信息来解决。最后，利用电动转台和小车对定位性能进行了实验验证.在实验中，我们证实了定位是成功的，即使当机器人是在运动中，甚至当机器人是飞近墙壁。少

In recent years, multirotor helicopter type autonomous UAVs are being used for aerial photography andaerial survey. In addition, various applications such as buildings maintenance, security and rescue are expected in multirotor helicopters. Not so distant future, these technology will be penetrate in our life. However, serious accident could occur if became widespread without guidelines and guarantees of safeness. Therefore, manufacturers need to be able to show that region of applicable application and behavior of fault mode to users. To show that, analytical model that can be used for analysis of behavioron model parameter change and hardware fault is needed. Our research group has started research onmultirotor helicopters since 2007. In 2010, we started to develop a practical multirotor with own design. Our research goal is to achieve advanced network system of ubiquitous small-scale aerial and groundrobots for high performance prevention of disaster in this project. In 2011, we suc … More ceeded in autonomouscontrol and we launched a consortium of multirotors in 2012. As described above, analytical model is needed for realizing safe multirotors. In this research, we constructed an analytical model which can beapply to general multirotors. The model was verified in experiment by constructing a control system. We constructed a simulation system which can be use for operator training and control system validation. Inaddition, this simulator can be simulated rotor failure and sensor failure. Actually by using this simulator, we showed that our simulator is useful for analyzing behavior of rotor failure, and is useful for training anoperator. While the multirotor helicopters are mainly used in outdoors, also it is expected for informationgathering in indoors. Autonomous navigation of flying robots in GPS-denied environments such as indoors requires that the the flying robot be able to estimate the position using external sensors. While laser scanners are mainly used for studies of indoor flight, development of smaller size robots is prevented due to the larger mass of sensor. Thus in this study, we develop a lightweight flying robot forachieving indoor autonomous flight using four infrared (IR) sensors. However, following problems are exists in localization based on IR sensors. First, it is difficult to use IR sensors close to a wall, because doing so would yield faulty results when calculating distance using the sensor output voltage. The secondproblem is that the spatial resolution is low because only four IR sensors are used. For the first problem, we constructed a probabilistic model of IR sensor that can be estimate position from voltage informationwithout the use of calculated distance. The second problem, was solved by rotating the robot horizontallyat all times to acquire information from various directions. Finally, the localization performance wasverified experimentally using an electric turntable and a cart. In the experiments, we confirmed that localization is successful even when the robot is in motion and even when the robot is flying near a wall. Less